Adaptive AUV Trajectory Tracking Method, Device, Equipment and Storage Medium

Abstract

The present invention provides an adaptive AUV trajectory tracking method, device, equipment and storage medium, which relates to the technical field of underwater vehicles, and includes: obtaining the dynamic model and kinematic model of an underwater vehicle; based on the adaptive generalized super-twisting sliding mode control algorithm, obtaining an adaptive disturbance observer according to the dynamic model and the kinematic model, wherein the adaptive disturbance observer is used to estimate dynamic disturbances and external disturbances; obtaining an adaptive active disturbance rejection controller according to the adaptive disturbance observer, wherein the adaptive active disturbance rejection controller is used to adaptively adjust the control parameters of the underwater vehicle by active disturbance rejection; obtaining an AUV trajectory tracking strategy through the adaptive active disturbance rejection controller, wherein the AUV trajectory tracking strategy is used to control the underwater vehicle to complete the trajectory tracking task according to a preset path. The present invention improves the trajectory tracking accuracy of the underwater vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and in particular, to an adaptive AUV trajectory tracking method, device, equipment, and storage medium. Background Art

[0002] An AUV, that is, an autonomous underwater vehicle, is a robot capable of autonomous navigation underwater. They are usually used in various applications such as ocean exploration, environmental monitoring, and seabed exploration. AUV trajectory tracking refers to the process of making an AUV navigate along a preset path or a target trajectory that is adjusted in real time in an underwater environment. Traditional AUV trajectory tracking methods mainly focus on dealing with constant or slowly changing disturbances, and their estimation ability for fast time-varying types of disturbances is poor, and the AUV trajectory tracking accuracy cannot meet the actual needs. At the same time, due to the large number of control parameters, it is difficult to adjust them in actual applications. Summary of the Invention

[0003] The present invention aims to solve at least one of the above problems.

[0004] To solve the above problems, the present invention provides an adaptive AUV trajectory tracking method, device, equipment, and storage medium.

[0005] In a first aspect, the present invention provides an adaptive AUV trajectory tracking method, including:

[0006] Obtaining the dynamic model and kinematic model of an underwater vehicle;

[0007] Based on the adaptive generalized super-twisting sliding mode control algorithm, an adaptive disturbance observer is obtained according to the dynamic model and the kinematic model, wherein the adaptive disturbance observer is used to estimate dynamic disturbances and external disturbances;

[0008] An adaptive active disturbance rejection controller is obtained according to the adaptive disturbance observer, wherein the adaptive active disturbance rejection controller is used to adaptively adjust the control parameters of the underwater vehicle for active disturbance rejection;

[0009] An AUV trajectory tracking strategy is obtained through the adaptive active disturbance rejection controller, wherein the AUV trajectory tracking strategy is used to control the underwater vehicle to complete the trajectory tracking task according to a preset path.

[0010] Optionally, the obtaining of the adaptive disturbance observer according to the dynamic model and the kinematic model includes:

[0011] The adaptive disturbance observer is obtained according to the dynamic model and the kinematic model, wherein the adaptive disturbance observer is:

[0012] ,

[0013] Among them, and are the disturbance estimation error and the internal state estimation error respectively, and are the estimated disturbance and the estimated state variable respectively, and are the actual disturbance and the actual state variable respectively, and are the dynamic data of the internal state of the disturbance observer, and are the adaptive gains, and are the auxiliary vectors, and are the functions for disturbance estimation, is the reference input signal.

[0014] Optionally, the adaptive active disturbance rejection controller obtained according to the adaptive disturbance observer includes:

[0015] Obtain the algebraic relationship of the position state through the adaptive disturbance observer, where the algebraic relationship of the position state is:

[0016] ,

[0017] Among them, is the disturbance term, is the introduced disturbance function, is the design constant, is the preset control law, is the acceleration of the underwater vehicle, is the velocity of the underwater vehicle in the x direction, is the velocity of the underwater vehicle in the y direction, is the velocity of the underwater vehicle in the z direction, is the heading angle of the underwater vehicle, is the time variable;

[0018] Obtain the adaptive active disturbance rejection controller according to the algebraic relationship of the position state.

[0019] Optionally, the obtaining of the adaptive active disturbance rejection controller according to the algebraic relationship of the position state includes:

[0020] Substitute the preset control law into the algebraic relationship of the position state to obtain the adaptive active disturbance rejection controller, where the preset control law is:

[0021] ,

[0022] wherein, is the introduced perturbation function, is the design constant, is the preset control law, is the external input.

[0023] Optionally, the substituting the preset control law into the algebraic relation of the position state to obtain the adaptive extended state observer controller includes:

[0024] Substituting the preset control law into the algebraic relation of the position state to obtain the adaptive extended state observer controller, wherein the adaptive extended state observer controller is:

[0025] ,

[0026] wherein, is the external input, , are respectively , derivatives of, , are state parameters of the underwater vehicle, is the system output.

[0027] Optionally, the obtaining the dynamic model and kinematic model of the underwater vehicle includes:

[0028] Obtaining the dynamic model of the underwater vehicle in the vertical plane and horizontal plane, wherein the dynamic model is:

[0029] ,

[0030] wherein, m is the mass of the underwater vehicle, , , and are added mass terms of hydrodynamics, , , and are respectively linear coefficients of surge, sway, heave and yaw, , , and are respectively quadratic damping coefficients of surge, sway, heave and yaw, , and are control inputs acting on the underwater vehicle, is the torque affecting the yaw motion, , , and The forces caused by external disturbances in each direction 、 、 are the derivatives of u, v, and w respectively. u, v, and w are the rotational velocities along the x-axis, y-axis, and z-axis directions respectively, and r is the rotational velocity of rotation. is the moment of inertia along the z-axis direction.

[0031] Optionally, the acquisition of the dynamic model and kinematic model of the underwater vehicle includes:

[0032] Acquire the kinematic model of the underwater vehicle in the vertical plane and the horizontal plane, where the kinematic model is:

[0033] ,

[0034] where 、 、 are the derivatives of the position coordinates of the underwater vehicle in three-dimensional space, is the derivative of the direction angle of the underwater vehicle, is the velocity component along the forward direction, is the velocity component along the lateral direction, is the velocity component along the up-down direction, is the rotation rate of the underwater vehicle, is the direction angle of the underwater vehicle.

[0035] In a second aspect, the present invention provides an adaptive AUV trajectory tracking device, including: a dynamic model and kinematic model acquisition module for acquiring the dynamic model and kinematic model of an underwater vehicle;

[0036] An adaptive disturbance observer acquisition module for obtaining an adaptive disturbance observer based on the adaptive generalized super-twisting sliding mode control algorithm according to the dynamic model and the kinematic model, where the adaptive disturbance observer is used to estimate dynamic disturbances and external disturbances;

[0037] An adaptive active disturbance rejection controller acquisition module for obtaining an adaptive active disturbance rejection controller according to the adaptive disturbance observer, where the adaptive active disturbance rejection controller is used to adaptively adjust the control parameters of the underwater vehicle for active disturbance rejection;

[0038] An AUV trajectory tracking strategy acquisition module for obtaining an AUV trajectory tracking strategy through the adaptive active disturbance rejection controller, where the AUV trajectory tracking strategy is used to control the underwater vehicle to complete the trajectory tracking task according to a preset path.

[0039] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0040] The memory is used for storing a computer program;

[0041] The processor is used for implementing the adaptive AUV trajectory tracking method as described in the first aspect when executing the computer program.

[0042] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the adaptive AUV trajectory tracking method as described in the first aspect is implemented.

[0043] The beneficial effects of the adaptive AUV trajectory tracking method, device, equipment and storage medium of the present invention are as follows: Based on the adaptive generalized super-twisting sliding mode control algorithm, an adaptive disturbance observer is obtained according to the dynamic model and the kinematic model, combining the robustness of the sliding mode control and the flexibility of the adaptive control, while ensuring the stability of the system, improving its applicability and performance. An adaptive active disturbance rejection controller is obtained according to the adaptive disturbance observer, and the parameters can be adjusted through the adaptive disturbance observer. An AUV trajectory tracking strategy is obtained through the adaptive active disturbance rejection controller, improving the trajectory tracking accuracy, being able to better track the sine trajectory, and being more suitable for practical applications. Description of the Drawings

[0044] Figure 1 It is a schematic flow chart of an adaptive AUV trajectory tracking method according to an embodiment of the present invention;

[0045] Figure 2 It is a schematic structural diagram of an adaptive AUV trajectory tracking device according to an embodiment of the present invention;

[0046] Figure 3 It is a schematic structural diagram of an electronic device according to an embodiment of the present invention. Detailed Embodiments

[0047] To make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0048] It should be understood that the steps described in the method embodiments of the present invention can be executed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0049] As used herein, the term "comprising" and its variations are open-ended, i.e., "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiment". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0050] It should be noted that the modifications of "one" and "plural" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0051] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0052] In view of the problems existing in the above related technologies, this embodiment provides an adaptive AUV trajectory tracking method, device, equipment and storage medium.

[0053] As Figure 1 shown, an adaptive AUV trajectory tracking method provided by an embodiment of the present invention includes:

[0054] Step 110, obtaining the dynamic model and kinematic model of the underwater vehicle.

[0055] Specifically, the dynamic model and kinematic model of the underwater vehicle are important bases for understanding its motion behavior. The kinematic model describes how the motion of an object changes over time without considering the cause of its motion, and is used to analyze the changes in position, velocity and attitude. The dynamic model describes the cause of motion, involves the action of forces and torques, and mainly focuses on the physical characteristics of the underwater vehicle. Among them, the dynamic model is:

[0056] ,

[0057] Wherein, is the time derivative of the state variable, is the position and orientation vector relative to the earth-fixed coordinate system, is the velocity state vector relative to the body-fixed coordinate system, is the spatial transformation matrix between the rigid body inertial coordinate system and the rigid body coordinate system.

[0058] Step 120: Based on the adaptive generalized super-twisting sliding mode control algorithm, an adaptive disturbance observer is obtained according to the dynamic model and the kinematic model, where the adaptive disturbance observer is used to estimate the dynamic disturbance and the external disturbance.

[0059] Specifically, the adaptive generalized super-twisting sliding mode control is an advanced control method aimed at overcoming some deficiencies of the traditional sliding mode control and improving the robustness and adaptive ability of the system. An adaptive disturbance observer is obtained according to the dynamic model and the kinematic model. The adaptive disturbance observer is a tool for real-time estimating the unmodeled dynamics and external disturbances in the system, which can effectively improve the robustness of the dynamic system.

[0060] Step 130: An adaptive active disturbance rejection controller is obtained according to the adaptive disturbance observer, where the adaptive active disturbance rejection controller is used to adaptively adjust the control parameters of the underwater vehicle.

[0061] Specifically, for an autonomous underwater vehicle (AUV), based on the obtained adaptive disturbance observer, an adaptive active disturbance rejection controller can be further constructed according to the adaptive disturbance observer.

[0062] Step 140: An AUV trajectory tracking strategy is obtained through the adaptive active disturbance rejection controller, where the AUV trajectory tracking strategy is used to control the underwater vehicle to complete the trajectory tracking task according to a preset path.

[0063] Specifically, the adaptive active disturbance rejection controller calculates the control input according to the preset path, generating the necessary propulsion force and angle to adjust the underwater vehicle onto the preset path.

[0064] In this embodiment, based on the adaptive generalized super-twisting sliding mode control algorithm, an adaptive disturbance observer is obtained according to the dynamic model and the kinematic model, combining the robustness of the sliding mode control and the flexibility of the adaptive control. While ensuring the stability of the system, its applicability and performance are improved. An adaptive active disturbance rejection controller is obtained according to the adaptive disturbance observer, and the parameters can be adjusted through the adaptive disturbance observer. An AUV trajectory tracking strategy is obtained through the adaptive active disturbance rejection controller, improving the trajectory tracking accuracy, being able to better track the sine trajectory, and being more suitable for practical applications.

[0065] Optionally, the adaptive disturbance observer obtained according to the dynamic model and the kinematic model includes:

[0066] The adaptive disturbance observer is obtained according to the dynamic model and the kinematic model, where the adaptive disturbance observer is:

[0067] ,

[0068] where and are the disturbance estimation error and the internal state estimation error respectively, and are the estimated disturbance and the estimated state variable respectively, and are the actual disturbance and the actual state variable respectively, and are the dynamic data of the internal state of the disturbance observer, and are the adaptive gains, and are the auxiliary vectors, and are the functions for disturbance estimation, is the reference input signal.

[0069] Specifically, where the appropriate variables are selected as:

[0070] .

[0071] where is the position state of the AUV, is the derivative of and are variables, and the following algebraic relations are obtained from the above formula:

[0072] ,

[0073] where:

[0074] ,

[0075] where is the derivative of the AUV's position state with respect to time, is the mass matrix, is the torque vector of gravity and buoyancy, is the Jacobian matrix used to describe the relationship between the system state and the control input, is the attitude of the underwater vehicle used to describe the mass distribution of the system, is the external disturbance or input signal of the system.

[0076] Among them, in order to design an adaptive disturbance observer to estimate bounded disturbances, we introduce an auxiliary variable as:

[0077] ,

[0078] where and are diagonal positive definite matrices. It should be noted that when is satisfied, this term modifies the convergence speed to the origin.

[0079] Among them, the time derivative of the auxiliary variable is:

[0080] ,

[0081] where , is the reference input signal.

[0082] Among them, according to the experimental design purpose, we regard the disturbance term as an extended state as :

[0083] ,

[0084] where is the total disturbance is the time derivative of.

[0085] Among them, the adaptive disturbance observer is:

[0086] ,

[0087] where and are the disturbance estimation error and the internal state estimation error respectively, and are the estimated disturbance and the estimated state variable respectively, and are the actual disturbance and the actual state variable respectively, and are the dynamics of the internal state of the disturbance observer, and are the adaptive gains, and are the auxiliary vectors, and are the functions for disturbance estimation, is the reference input signal.

[0088] Among them, the vector and Each element inside is:

[0089] ,

[0090] Among them, is a state variable, is a coefficient that adjusts the overall dynamic influence, The symbolic operation relationship existing in is defined as , , and are constant controller gains.

[0091] Among them, the sgn sign function is:

[0092] ,

[0093] Among them, is a scalar.

[0094] Among them, the adaptive gains and are determined according to the following update rules:

[0095] ,

[0096] Among them, , , and are constants.

[0097] Among them, a small boundary is introduced to , and the adaptive gain is:

[0098] ,

[0099] Among them, is a small, empirically selected constant. The purpose of this boundary is to prevent the adaptive gain from increasing to infinity. Because in practice, the auxiliary variable can never be exactly zero, making the second condition of the adaptive gain never satisfied, so it is necessary to limit the auxiliary variable .

[0100] In this optional embodiment, an adaptive disturbance observer is designed according to the above model to estimate the external disturbance, combining the robustness of sliding mode control with the flexibility of adaptive control, improving its applicability and performance while ensuring the system stability.

[0101] Optionally, the adaptive auto-disturbance rejection controller obtained according to the adaptive disturbance observer includes:

[0102] An algebraic relationship of the position state is obtained through the adaptive disturbance observer, where the algebraic relationship of the position state is:

[0103] ,

[0104] where, is the disturbance term, is the introduced disturbance function, is the design constant, is the preset control law, is the acceleration of the underwater vehicle, is the velocity of the underwater vehicle in the x direction, is the velocity of the underwater vehicle in the y direction, is the velocity of the underwater vehicle in the z direction, is the heading angle of the underwater vehicle, is the time variable;

[0105] The adaptive auto-disturbance rejection controller is obtained according to the algebraic relationship of the position state.

[0106] Specifically, after combining the algebraic relationship of the AUV position state, it can be expressed as:

[0107] ,

[0108] where, is the disturbance term.

[0109] The introduced disturbance function , and the algebraic relationship of the position state is:

[0110] ,

[0111] where, is the disturbance term, is the introduced disturbance function, is the design constant, is the preset control law, is the acceleration of the underwater vehicle, is the velocity of the underwater vehicle in the x direction, is the velocity of the underwater vehicle in the y direction, is the velocity of the underwater vehicle in the z direction, is the heading angle of the underwater vehicle, is the time variable.

[0112] where, and 。

[0113] Optionally, obtaining the adaptive auto-disturbance rejection controller according to the algebraic relationship of the position state includes:

[0114] Substituting a preset control law into the algebraic relationship of the position state to obtain the adaptive auto-disturbance rejection controller, where the preset control law is:

[0115] ,

[0116] where is the introduced disturbance function, is the design constant, is the preset control law, is the external input.

[0117] Optionally, substituting the preset control law into the algebraic relationship of the position state to obtain the adaptive auto-disturbance rejection controller includes:

[0118] Substituting the preset control law into the algebraic relationship of the position state to obtain the adaptive auto-disturbance rejection controller, where the adaptive auto-disturbance rejection controller is:

[0119] ,

[0120] where is the external input, 、 are respectively 、 's derivatives, 、 are the state parameters of the underwater vehicle, is the system output.

[0121] Specifically, substituting the preset control law into the algebraic relationship of the position state gives:

[0122] 。

[0123] where the system relationship can be expressed as:

[0124] ,

[0125] where , by setting the controller gains and the system can achieve Hurwitz stability.

[0126] In this alternative embodiment, an adaptive auto-disturbance rejection controller is obtained from the adaptive disturbance observer, and the parameters can be adjusted through the adaptive disturbance observer.

[0127] Optionally, obtaining the dynamic model and kinematic model of the underwater vehicle includes:

[0128] Obtaining the dynamic model of the underwater vehicle in the vertical plane and the horizontal plane, where the dynamic model is:

[0129] ,

[0130] where m is the mass of the underwater vehicle, , , and are added mass terms of hydrodynamics, , , and are the linear coefficients of surge, sway, heave, and yaw respectively, , , and are the quadratic damping coefficients of surge, sway, heave, and yaw respectively, , and are the control inputs acting on the underwater vehicle, is the torque affecting the yaw motion, , , and are the forces caused by external disturbances in each direction, , , are the derivatives of u, v, w respectively, where u, v, w are the rotational velocities along the x-axis, y-axis, and z-axis directions respectively, and r is the rotational velocity of rotation, is the moment of inertia about the z-axis.

[0131] Optionally, obtaining the dynamic model and kinematic model of the underwater vehicle includes:

[0132] Obtaining the kinematic model of the underwater vehicle in the vertical plane and the horizontal plane, where the kinematic model is:

[0133] ,

[0134] where, , , are the derivatives of the position coordinates of the underwater vehicle in three-dimensional space, is the derivative of the direction angle of the underwater vehicle, is the velocity component along the forward direction, is the velocity component along the lateral direction, is the velocity component along the up - down direction, is the rotation rate of the underwater vehicle, is the direction angle of the underwater vehicle.

[0135] Specifically, the dynamic model is:

[0136] ,

[0137] where, is the time derivative of the state variable, is the position and orientation vector relative to the earth - fixed coordinate system, is the velocity state vector relative to the body - fixed coordinate system, is the space transformation matrix between the rigid - body inertial coordinate system and the rigid - body coordinate system. u, v, and w are the rotational velocities along the x - axis, y - axis, and z - axis directions respectively.

[0138] Assume the AUV is symmetric in the XZ and YZ planes, moves at a low speed, and is inherently stable in the pitch and roll directions. The simplified kinematic model is:

[0139] ,

[0140] where, , , are the derivatives of the position coordinates of the underwater vehicle in three - dimensional space, is the derivative of the direction angle of the underwater vehicle, is the velocity component along the forward direction, is the velocity component along the lateral direction, is the velocity component along the up - down direction, is the rotation rate of the underwater vehicle, is the direction angle of the underwater vehicle.

[0141] The simplified four - degree - of - freedom dynamic model is:

[0142] ,

[0143] where, is the inertia matrix and includes the influence of added mass, is the Coriolis - centripetal matrix, is the hydrodynamic damping matrix, is the gravity, buoyancy and moment vectors, is the control vector affecting the underwater vehicle, is the bounded disturbance.

[0144] After arrangement, the specific dynamic model is:

[0145] ,

[0146] where m is the mass of the underwater vehicle, , , and are the hydrodynamic added mass terms, , , and are the linear coefficients of surge, sway, heave and yaw respectively, , , and are the quadratic damping coefficients of surge, sway, heave and yaw respectively, , and are the control inputs acting on the underwater vehicle, is the torque affecting the yaw motion, , , and are the forces caused by external disturbances in each direction, , , are the derivatives of u, v, w respectively, where u, v, w are the rotational velocities along the x-axis, y-axis and z-axis directions respectively, and r is the rotational velocity of rotation, is the moment of inertia along the z-axis direction.

[0147] For the convenience of subsequent research, the above parameters are integrated and simplified, and it is expressed as:

[0148] .

[0149] The four-degree-of-freedom dynamic model of the AUV is:

[0150] .

[0151] Introduce the auxiliary variables and , and after integrating the dynamic model with the auxiliary variables, it is:

[0152] ,

[0153] where, is the mass matrix, For the control of the input vector form, It is the vector definition of external disturbance.

[0154] Among them, the matrix is expressed as:

[0155] .

[0156] Among them, some parameters are defined as:

[0157] .

[0158] As Figure 2 shown, an adaptive AUV trajectory tracking device provided by an embodiment of the present invention includes:

[0159] A dynamic model and kinematic model acquisition module 10, configured to acquire the dynamic model and kinematic model of an underwater vehicle;

[0160] An adaptive disturbance observer acquisition module 20, configured to obtain an adaptive disturbance observer based on an adaptive generalized super-twisting sliding mode control algorithm according to the dynamic model and the kinematic model, wherein the adaptive disturbance observer is used to estimate dynamic disturbance and external disturbance;

[0161] An adaptive active disturbance rejection controller acquisition module 30, configured to obtain an adaptive active disturbance rejection controller according to the adaptive disturbance observer, wherein the adaptive active disturbance rejection controller is used to adaptively adjust the control parameters of the underwater vehicle;

[0162] An AUV trajectory tracking strategy acquisition module 40, configured to obtain an AUV trajectory tracking strategy through the adaptive active disturbance rejection controller, wherein the AUV trajectory tracking strategy is used to control the underwater vehicle to complete a trajectory tracking task according to a preset path.

[0163] The adaptive AUV trajectory tracking device of this embodiment is used to implement the adaptive AUV trajectory tracking method as described above, and its advantages compared with the prior art are the same as those of the above adaptive AUV trajectory tracking method compared with the prior art, and will not be elaborated here.

[0164] Optionally, the adaptive disturbance observer acquisition module 20 is specifically configured to: obtain the adaptive disturbance observer according to the dynamic model and the kinematic model, wherein the adaptive disturbance observer is:

[0165] ,

[0166] Among them, and are the disturbance estimation error and the internal state estimation error respectively, and are the estimated disturbance and the estimated state variables, respectively, and are the actual disturbance and the actual state variables, respectively, and is the dynamic data of the internal state of the disturbance observer, and are the adaptive gains, and are the auxiliary vectors, and are the functions for disturbance estimation, is the reference input signal.

[0167] Optionally, the adaptive active disturbance rejection controller obtaining module 30 is specifically configured to: obtain the algebraic relationship of the position state through the adaptive disturbance observer, where the algebraic relationship of the position state is:

[0168] ,

[0169] where is the disturbance term, is the introduced disturbance function, is the design constant, is the preset control law, is the acceleration of the underwater vehicle, is the velocity of the underwater vehicle in the x direction, is the velocity of the underwater vehicle in the y direction, is the velocity of the underwater vehicle in the z direction, is the heading angle of the underwater vehicle, is the time variable;

[0170] Obtain the adaptive active disturbance rejection controller according to the algebraic relationship of the position state.

[0171] Optionally, the adaptive active disturbance rejection controller obtaining module 30 is specifically configured to: substitute the preset control law into the algebraic relationship of the position state to obtain the adaptive active disturbance rejection controller, where the preset control law is:

[0172] ,

[0173] where is the introduced disturbance function, is the design constant, is the preset control law, is the external input.

[0174] Optionally, the adaptive auto-disturbance rejection controller acquisition module 30 is specifically configured to: substitute the preset control law into the algebraic relationship of the position state to obtain the adaptive auto-disturbance rejection controller, where the adaptive auto-disturbance rejection controller is:

[0175] ,

[0176] where, is an external input, , are respectively , derivatives of , are state parameters of the underwater vehicle, is the system output.

[0177] Optionally, the dynamics model and kinematics model acquisition module 10 is specifically configured to: acquire the dynamics model of the underwater vehicle in the vertical plane and the horizontal plane, where the dynamics model is:

[0178] ,

[0179] where m is the mass of the underwater vehicle, , , and are added mass terms of hydrodynamics, , , and are respectively linear coefficients of surge, sway, heave and yaw, , , and are respectively quadratic damping coefficients of surge, sway, heave and yaw, , and are control inputs acting on the underwater vehicle, is the torque affecting the yaw motion, , , and are forces caused by external disturbances in each direction, , , are respectively derivatives of u, v, w, where u, v, w are rotational speeds along the x-axis, y-axis, z-axis directions respectively, and r is the rotational speed of rotation, is the moment of inertia along the z-axis direction.

[0180] Optionally, the kinematic model and dynamic model acquisition module 10 is specifically configured to: acquire the kinematic models of the underwater vehicle in the vertical plane and the horizontal plane, where the kinematic models are:

[0181] ,

[0182] where 、 、 are the derivatives of the position coordinates of the underwater vehicle in three-dimensional space, is the derivative of the direction angle of the underwater vehicle, is the velocity component along the forward direction, is the velocity component along the lateral direction, is the velocity component along the up and down direction, is the rotation rate of the underwater vehicle, is the direction angle of the underwater vehicle.

[0183] As Figure 3 shown, an electronic device 300 provided by an embodiment of the present invention includes a memory 310 and a processor 320; the memory 310 is used to store a computer program; the processor 320 is used to implement the above-mentioned adaptive AUV trajectory tracking method when executing the computer program.

[0184] Or rather, an electronic device 300 includes a memory 310 and a processor 320 coupled to the memory 310; the memory 310 is configured to store a computer program; the processor 320 is configured to perform the following operations when executing the computer program:

[0185] Acquire the dynamic model and kinematic model of the underwater vehicle;

[0186] Based on the adaptive generalized super-twisting sliding mode control algorithm, obtain an adaptive disturbance observer according to the dynamic model and the kinematic model, where the adaptive disturbance observer is used to estimate dynamic disturbances and external disturbances;

[0187] Obtain an adaptive active disturbance rejection controller according to the adaptive disturbance observer, where the adaptive active disturbance rejection controller is used to adaptively adjust the control parameters of the underwater vehicle for active disturbance rejection;

[0188] Obtain an AUV trajectory tracking strategy through the adaptive active disturbance rejection controller, where the AUV trajectory tracking strategy is used to control the underwater vehicle to complete the trajectory tracking task according to a preset path.

[0189] A computer-readable storage medium provided by an embodiment of the present invention, on which a computer program is stored. When the computer program is executed by a processor, the adaptive AUV trajectory tracking method described above is implemented.

[0190] Or, a non-volatile computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor performs the following operations:

[0191] Obtain the dynamic model and kinematic model of the underwater vehicle;

[0192] Based on the adaptive generalized super-twisting sliding mode control algorithm, an adaptive disturbance observer is obtained according to the dynamic model and the kinematic model, wherein the adaptive disturbance observer is used to estimate the dynamic disturbance and external disturbance;

[0193] An adaptive active disturbance rejection controller is obtained according to the adaptive disturbance observer, wherein the adaptive active disturbance rejection controller is used to adaptively adjust the control parameters of the underwater vehicle for active disturbance rejection;

[0194] An AUV trajectory tracking strategy is obtained through the adaptive active disturbance rejection controller, wherein the AUV trajectory tracking strategy is used to control the underwater vehicle to complete the trajectory tracking task according to a preset path.

[0195] Now, an electronic device 300 that can be used as a server or a client of the present invention will be described. It is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 300 is intended to represent various forms of digital electronic computer devices, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device 300 can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0196] The electronic device 300 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0197] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention. In addition, the functional units in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0198] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. An adaptive AUV trajectory tracking method, characterized in that, Including: Obtain the dynamic model and kinematic model of the underwater vehicle; Based on the adaptive generalized super-twisting sliding mode control algorithm, obtain an adaptive disturbance observer according to the dynamic model and the kinematic model, where the adaptive disturbance observer is used to estimate the dynamic disturbance and external disturbance; Obtain an adaptive active disturbance rejection controller according to the adaptive disturbance observer, where the adaptive active disturbance rejection controller is used to adaptively adjust the control parameters of the underwater vehicle for active disturbance rejection, including: Obtain the algebraic relationship of the position state through the adaptive disturbance observer, where the algebraic relationship of the position state is: ， wherein, is a disturbance term, is the introduced disturbance function, is a design constant, is the preset control law, is the acceleration of the underwater vehicle, is the velocity of the underwater vehicle in the x direction, is the velocity of the underwater vehicle in the y direction, is the velocity of the underwater vehicle in the z direction, is the heading angle of the underwater vehicle, is the time variable; Obtain the adaptive active disturbance rejection controller according to the algebraic relationship of the position state; Obtain the AUV trajectory tracking strategy through the adaptive active disturbance rejection controller, where the AUV trajectory tracking strategy is used to control the underwater vehicle to complete the trajectory tracking task according to a preset path.

2. The adaptive AUV trajectory tracking method according to claim 1, characterized in that The obtaining of the adaptive disturbance observer according to the dynamic model and the kinematic model includes: Obtain the adaptive disturbance observer according to the dynamic model and the kinematic model, where the adaptive disturbance observer is: ， Among them, and are the disturbance estimation error and the internal state estimation error respectively, and are the estimated disturbance and the estimated state variable respectively, and are the actual disturbance and the actual state variable respectively, and are the dynamic data of the internal state of the disturbance observer, and are the adaptive gains, and are the auxiliary vectors, and are the functions for disturbance estimation, is the reference input signal.

3. The adaptive AUV trajectory tracking method according to claim 1, wherein The obtaining of the adaptive active disturbance rejection controller according to the algebraic relationship of the position state includes: Substitute a preset control law into the algebraic relationship of the position state to obtain the adaptive active disturbance rejection controller, where the preset control law is: ， wherein, is the introduced perturbation function, is the design constant, is the said preset control law, is the external input.

4. The adaptive AUV trajectory tracking method according to claim 3, wherein The substituting of the preset control law into the algebraic relationship of the position state to obtain the adaptive active disturbance rejection controller includes: Substitute the preset control law into the algebraic relationship of the position state to obtain the adaptive active disturbance rejection controller, where the adaptive active disturbance rejection controller is: ， Among them, is an external input, , are respectively , 's derivatives, , are the state parameters of the underwater vehicle, is the system output.

5. The adaptive AUV trajectory tracking method according to claim 1, wherein, The obtaining of the dynamic model and kinematic model of the underwater vehicle includes: Obtain the dynamic model of the underwater vehicle in the vertical plane and the horizontal plane, where the dynamic model is: ， where m is the mass of the underwater vehicle, 、 、 and are added mass terms of hydrodynamics, 、 、 and are linear coefficients of surge, sway, heave, and yaw respectively, 、 、 and are quadratic damping coefficients of surge, sway, heave, and yaw respectively, 、 and are control inputs acting on the underwater vehicle, is the torque affecting the yaw motion, 、 、 and are forces caused by external disturbances in each direction, 、 、 are derivatives of u, v, w respectively, where u, v, w are rotational velocities along the x-axis, y-axis, and z-axis directions respectively, and r is the rotational velocity of rotation, is the moment of inertia about the z-axis.

6. The adaptive AUV trajectory tracking method according to claim 5, wherein The obtaining of the dynamic model and kinematic model of the underwater vehicle includes: Obtain the kinematic model of the underwater vehicle in the vertical plane and the horizontal plane, where the kinematic model is: ， Among them, , , are the derivatives of the position coordinates of the underwater vehicle in three-dimensional space, is the derivative of the direction angle of the underwater vehicle, is the velocity component along the forward direction, is the velocity component along the lateral direction, is the velocity component along the up-down direction, is the rotation rate of the underwater vehicle, is the direction angle of the underwater vehicle.

7. An adaptive AUV trajectory tracking device, characterized in that, Including: A dynamic model and kinematic model acquisition module, which is used to obtain the dynamic model and kinematic model of the underwater vehicle; An adaptive disturbance observer acquisition module, which is used to obtain an adaptive disturbance observer based on the adaptive generalized super-twisting sliding mode control algorithm according to the dynamic model and the kinematic model, where the adaptive disturbance observer is used to estimate the dynamic disturbance and external disturbance; An adaptive active disturbance rejection controller acquisition module, which is used to obtain an adaptive active disturbance rejection controller according to the adaptive disturbance observer, where the adaptive active disturbance rejection controller is used to adaptively adjust the control parameters of the underwater vehicle for active disturbance rejection, including: Obtain the algebraic relationship of the position state through the adaptive disturbance observer, where the algebraic relationship of the position state is: ， wherein, is the disturbance term, is the introduced disturbance function, is the design constant, is the preset control law, is the acceleration of the underwater vehicle, is the velocity of the underwater vehicle in the x direction, is the velocity of the underwater vehicle in the y direction, is the velocity of the underwater vehicle in the z direction, is the heading angle of the underwater vehicle, is the time variable; Obtain the adaptive active disturbance rejection controller according to the algebraic relationship of the position state; An AUV trajectory tracking strategy acquisition module, which is used to obtain an AUV trajectory tracking strategy through the adaptive auto-disturbance rejection controller, wherein the AUV trajectory tracking strategy is used to control the underwater vehicle to complete the trajectory tracking task according to a preset path.

8. An electronic device, characterized in that, It includes a memory and a processor; The memory is used to store computer programs; The processor is used to implement the adaptive AUV trajectory tracking method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the storage medium, and when the computer program is executed by the processor, the adaptive AUV trajectory tracking method according to any one of claims 1 to 6 is implemented.

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